CN113724469B - Overturn-preventing early warning method and device for working machine, working machine and electronic equipment - Google Patents
Overturn-preventing early warning method and device for working machine, working machine and electronic equipment Download PDFInfo
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Abstract
The invention provides an anti-overturn early warning method and device for a working machine, the working machine and electronic equipment, wherein the anti-overturn early warning method for the working machine comprises the following steps: acquiring a plurality of positive pressures acquired by a plurality of pressure sensors; wherein the plurality of pressure sensors are respectively arranged at a plurality of supporting wheels of the working machine; obtaining a position corresponding to an intersection point of the gravity direction of the working machine and the ground based on the positive pressures; and acquiring the outer contour positions of the plurality of thrust wheels, and early warning the overturning danger of the working machine based on the positions of the intersection points and the outer contour positions of the plurality of thrust wheels. The anti-overturning early warning method for the operating machine is used for overcoming the defects that the overturning early warning is not timely and the risk of misjudgment exists in the prior art, improving the accuracy of the overturning danger judgment of the operating machine and timely early warning the overturning danger of the operating machine.
Description
Technical Field
The invention relates to the technical field of engineering, in particular to an anti-overturn early warning method and device for a working machine, the working machine and electronic equipment.
Background
When the operation machinery runs in complicated ground engineering, the danger of overturning easily occurs. At present, in order to prevent the work machine from overturning, a gravity sensor, an inclination sensor and the like are installed at each part of a vehicle body to calculate the attitude state of each part of the work machine, then the total barycentric coordinate of each part of the excavator is calculated according to the attitude and the like, and finally whether the barycentric position has the risk of overturning or not is calculated according to the stress balance.
In the prior art, the gravity sensor is arranged at each part of the vehicle body to calculate the gravity center of the working machine, so that the overturning risk is judged. When the environment around the working machine changes, the judgment mode has the risk of wrong judgment, for example, when the working machine runs on a soft soil or a landslide, the working machine gives an alarm after the posture of the working machine changes due to the change of the environment, and the overturning can not be prevented in time. Therefore, the conventional overturn prevention early warning method for the operating machine has the risks of untimely overturn early warning and misjudgment.
Disclosure of Invention
The invention provides an anti-overturning early warning method and device for a working machine, the working machine and electronic equipment, which are used for overcoming the defects that the overturning early warning is not timely and the risk of wrong judgment exists in the prior art, improving the accuracy of the judgment of the overturning danger of the working machine and early warning the overturning danger of the working machine in time.
The invention provides an overturn-preventing early warning method for a working machine, which comprises the following steps:
acquiring a plurality of positive pressures acquired by a plurality of pressure sensors; wherein the plurality of pressure sensors are respectively arranged at a plurality of supporting wheels of the working machine;
obtaining a position corresponding to an intersection point of the gravity direction of the working machine and the ground based on the positive pressures;
and acquiring the outer contour positions of the plurality of thrust wheels, and early warning the overturning danger of the working machine based on the positions of the intersection points and the outer contour positions of the plurality of thrust wheels.
According to the anti-overturn warning method for a working machine provided by the present invention, the obtaining of the position corresponding to the intersection point of the gravity direction of the working machine and the ground based on the plurality of positive pressures includes:
decomposing the positive pressures along the direction of a coordinate axis under a target coordinate system to obtain a plurality of horizontal axis pressures and a plurality of longitudinal axis pressures; wherein the target coordinate system comprises a horizontal axis and a vertical axis, the horizontal axis is a front-back direction of the working machine, and the vertical axis is a direction perpendicular to the front-back direction of the working machine and parallel to the ground;
obtaining coordinates of the intersection point based on the plurality of transverse axis pressures, the plurality of longitudinal axis pressures, and the plurality of positive pressures.
According to the overturn-preventing early warning method for the working machine, the outer contour positions of the plurality of thrust wheels comprise the coordinates of the vertex thrust wheel in the plurality of thrust wheels in the target coordinate system;
the early warning of the overturning danger of the working machine based on the position of the intersection point and the outer contour positions of the plurality of thrust wheels comprises:
obtaining an overturning early warning boundary of the working machine based on the coordinates of the vertex thrust wheel;
and based on the coordinates of the intersection point and the overturning early warning boundary, early warning is carried out on the overturning danger of the operation machinery.
According to the rollover warning method for a working machine provided by the invention, the rollover warning boundary of the working machine is obtained based on the coordinates of the vertex thrust wheel, and the rollover warning method comprises the following steps:
dividing the coordinates of the vertex thrust wheel by a target safety coefficient to obtain the overturning early warning boundary;
wherein the target safety factor is greater than 1.
According to the overturn prevention early warning method for a working machine provided by the invention, the early warning for the overturn danger of the working machine based on the coordinates of the intersection point and the overturn early warning boundary comprises the following steps:
under the condition that the coordinates of the intersection point cross the overturning early warning boundary, acquiring an overturning danger level based on the coordinates of the vertex thrust wheel at the current moment, the coordinates of the intersection point at the previous moment and the time difference between the current moment and the previous moment;
and early warning is carried out based on the overturning danger level.
According to the rollover prevention early warning method for a working machine provided by the present invention, the obtaining of the rollover risk level based on the coordinates of the top thrust wheel at the current time, the coordinates of the intersection point at the previous time, and the time difference between the current time and the previous time includes:
calculating the equivalent overturn occurrence time based on the following formula:
wherein, T f The equivalent overturning occurrence time is delta t, and the delta t is the time difference between the current time and the last time; c e Is the absolute value of the abscissa, C, of the vertex thrust wheel O (t) is the abscissa of the intersection at the current time,C O (t- Δ t) is the abscissa of the point of intersection at the previous moment, or, C e Is the absolute value of the ordinate, C, of the vertex thrust wheel O (t) is the ordinate of the point of intersection at the current time, C O (t- Δ t) is the ordinate of the intersection at the previous moment;
obtaining the overturning danger grade based on the equivalent overturning occurrence time; wherein, the overturning danger level and the equivalent overturning occurrence time are in an inverse relation.
The present invention also provides an overturn prevention warning device for a working machine, including:
the acquisition module is used for acquiring a plurality of positive pressures acquired by the plurality of pressure sensors; wherein the plurality of pressure sensors are respectively arranged at a plurality of supporting wheels of the working machine;
the computing module is used for obtaining a position corresponding to an intersection point of the gravity direction of the operation machine and the ground based on the positive pressures;
and the early warning module is used for acquiring the outer contour positions of the plurality of thrust wheels and early warning the overturning danger of the working machine based on the positions of the intersection points and the outer contour positions of the plurality of thrust wheels.
The invention also provides a working machine, which comprises the overturn-preventing early warning device of the working machine.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the steps of the overturn-preventing warning method for a working machine according to any one of the above aspects.
The invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method for early warning against overturning of a work machine as defined in any one of the above.
According to the overturn-preventing early warning method and device for the working machine, the working machine and the electronic equipment, the gravity distribution data is acquired through the positive pressure acquired by the pressure sensors at the supporting wheels, namely the reverse acting force applied to the corresponding supporting wheels by the ground, but not through the gravity sensors arranged at all parts of the working machine.
The method provided by the invention fully considers the road condition of the running road, can accurately detect the gravity distribution of the operating machine even if the operating machine runs on a loose road or a cliff, further calculates the position of the intersection point of the gravity direction of the operating machine and the ground, judges whether the operating machine has the overturning danger or not based on the position of the intersection point and the outer contour positions of the plurality of supporting wheels, and then carries out early warning based on the judged overturning danger.
The position corresponding to the intersection point of the gravity direction of the operation machine and the ground is calculated through the positive pressure of the supporting wheel, so that the accuracy of the calculation result of the intersection point of the gravity direction of the operation machine and the ground can be improved, even under the condition that the road condition of the operation machine during running changes, the position corresponding to the intersection point of the gravity direction of the operation machine and the ground is calculated through the method can also change accordingly, early warning is timely carried out, and the early warning after the operation machine overturns is avoided.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for preventing an overturn warning of a working machine according to the present disclosure;
FIG. 2 is a schematic illustration of a bogie wheel of a work machine provided by the present disclosure;
FIG. 3 is a schematic illustration of an intersection of a work machine gravity direction and ground provided by the present disclosure;
FIG. 4 is a schematic diagram of an early warning boundary for overturning provided by the present invention;
FIG. 5 is a second flowchart illustrating a method for preventing overturn for a working machine according to the present invention;
fig. 6 is a schematic block diagram of an anti-overturn warning device for a working machine according to the present invention;
FIG. 7 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals are as follows:
200: a working machine; 210: a thrust wheel; 211: a vertex thrust wheel;
220: a chassis; 600: an anti-overturning early warning device; 610: an acquisition module;
620: a calculation module; 630: and an early warning module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The overturn prevention early warning method and apparatus for a working machine, the working machine, and the electronic device according to the present invention will be described with reference to fig. 1 to 7.
As shown in fig. 1, the present invention provides an anti-tip-over warning method for a working machine, including:
It will be appreciated that the work machine may be an excavator and that the plurality of bogie wheels 210 are each located on a chassis 220 of the work machine.
Since the change of the center of gravity of the working machine is most directly reflected in the change of the distribution of the positive pressure of the working machine in contact with the ground, in the method provided by the invention, the pressure sensor is arranged at each supporting wheel 210 of the lower body of the working machine, and the positive pressure at the plurality of supporting wheels 210 can be collected through the plurality of pressure sensors.
And 120, obtaining a position corresponding to the intersection point of the gravity direction of the working machine and the ground based on the positive pressures.
In some embodiments, the intersection O of the work machine's weight G through the ground is shown in fig. 3.
It will be appreciated that the positive pressure at the bogie wheel 210 is the pressure exerted by the bogie wheel 210 in a direction perpendicular to the ground. After the plurality of pressure sensors may collect positive pressure at the plurality of bogie wheels 210, coordinates of an intersection point O where the gravity G of work machine 200 passes through the ground may be estimated.
It is understood that the relative position relationship between the intersection point and the outer contours of the plurality of thrust wheels 210 can be determined by the position of the intersection point and the outer contours of the plurality of thrust wheels 210, and if the intersection point is outside the outer contours of the plurality of thrust wheels 210, it can indicate that the work machine 200 is in danger of overturning. Therefore, the early warning of the risk of overturning of work machine 200 can be realized by the position of the intersection point and the outer contour positions of the plurality of bogie wheels 210. In some embodiments, deriving the position corresponding to the intersection of the direction of gravity of work machine 200 with the ground based on the plurality of positive pressures includes:
decomposing the positive pressures along the direction of a coordinate axis under a target coordinate system to obtain a plurality of horizontal axis pressures and a plurality of longitudinal axis pressures; the target coordinate system includes a horizontal axis and a vertical axis, the horizontal axis is the front-back direction of the work machine 200, the vertical axis is the direction perpendicular to the front-back direction of the work machine 200 and parallel to the ground, and the origin of coordinates may be the center point of the plurality of pressure sensors, or the position of the pressure sensor at the top thrust wheel 211 shown in fig. 4;
the coordinates of the intersection point are obtained based on the plurality of transverse axis pressures, the plurality of longitudinal axis pressures, and the plurality of positive pressures.
In the target coordinate system, the left-right direction of work machine 200 is the horizontal axis, and the front-rear direction of work machine 200 is the vertical axis. The front-rear direction of work machine 200 is the forward and backward direction of work machine 200, and the left-right direction of work machine 200 is the direction perpendicular to the front-rear direction of work machine 200.
It is understood that the coordinates of the intersection point are obtained based on the plurality of horizontal-axis pressures, the plurality of vertical-axis pressures, and the plurality of positive pressures, that is, the horizontal coordinates of the intersection point can be calculated based on the plurality of horizontal-axis pressures and the plurality of positive pressures, and the vertical coordinates of the intersection point can be calculated based on the plurality of vertical-axis pressures and the plurality of positive pressures.
The position coordinates of No. 1-m pressure sensors in a target coordinate system are assumed to be (x) 1 ,y 1 ),……,(x m ,y m ) Pressure reading of the pressure sensor is N 1 (t),……,N m (t), the abscissa x of the intersection O O (t) is:
ordinate y of the point of intersection O O (t) is:
wherein N is i (t)x i Is N i (t) Cross axial pressure, N i (t)y i Is N i (t) corresponding longitudinal axis pressure.
In some embodiments, as shown in fig. 4, the outer contour positions of the plurality of bogie wheels 210, including the vertex bogie wheel 211 of the plurality of bogie wheels 210, are coordinates in the target coordinate system;
it should be noted that the outer contour of the plurality of thrust wheels 210 corresponds to the thrust wheels 210 at four vertices, that is, the vertex thrust wheel 211.
Based on the position of the intersection point and the outer contour positions of the plurality of bogie wheels 210, the early warning of the overturning danger of the work machine 200 includes:
obtaining an overturning early warning boundary of the work machine 200 based on the coordinates of the vertex thrust wheel 211;
based on the coordinates of the intersection point and the overturning warning boundary, the danger of overturning of work machine 200 is warned.
When the coordinates of the intersection point cross the overturn warning boundary, the danger of overturn of work machine 200 is warned. The coordinates of the intersection point do not cross the overturning early warning boundary, and the overturning danger of the work machine 200 is not early warned.
The rollover warning boundary of the work machine 200 is shown in fig. 4, and it should be noted that the rollover occurrence boundary is a critical position where the work machine 200 is in rollover, and therefore, the rollover warning boundary may be located inside the rollover occurrence boundary, and when the work machine 200 is about to send out rollover, a warning is given in advance.
It should be noted that obtaining the rollover warning boundary of work machine 200 based on the coordinates of vertex thrust wheel 211 includes:
obtaining a transverse-axis overturning early warning boundary of the working machine 200 based on the abscissa of the vertex thrust wheel 211;
based on the ordinate of vertex wheel 211, the longitudinal axis overturn warning boundary of work machine 200 is obtained.
Based on the coordinates of the intersection point and the overturning early warning boundary, the early warning of the overturning danger of the work machine 200 includes:
the early warning of the overturning danger of the work machine 200 is performed based on the abscissa and the ordinate of the intersection point, and the horizontal axis overturning early warning boundary and the vertical axis overturning early warning boundary.
If the abscissa of the intersection point crosses the abscissa of the intersection point, or the ordinate of the intersection point crosses the ordinate of the intersection point, the overturn risk of work machine 200 is warned.
If the abscissa of the intersection point does not cross the abscissa of the abscissa overturning warning boundary and the ordinate of the intersection point does not cross the ordinate overturning warning boundary, the danger of overturning of work machine 200 is not warned.
In some embodiments, deriving an early warning boundary of a work machine 200 for an overturning, based on coordinates of top thrust wheel 211, includes:
dividing the coordinates of the vertex thrust wheel 211 by the target safety coefficient to obtain an overturning early warning boundary;
wherein the target safety factor is greater than 1.
It will be appreciated that since a safety factor k (k > 1) needs to be set if the intersection O coordinate falls on the track wheel 210 boundary, indicating that an overturn is occurring or has occurred, such that the weight G of work machine 200 needs to be constrained within the rollover warning boundary as shown in fig. 4, indicating that work machine 200 is safe from the risk of overturning.
Each vertex thrust wheel 211 has a coordinate of (x) e ,y e ),(x e ,-y e ),(-x e ,y e ),(-x e ,-y e )，(x e ,y e >0) Then, the overturning safety range corresponding to the work machine 200 satisfies:
and is
The following conditions are satisfied, indicating that there is a risk of the work machine 200 overturning:
or
In some embodiments, warning of the risk of overturning of work machine 200 based on the coordinates of the intersection point and the overturning warning boundary includes:
under the condition that the coordinates of the intersection point cross the overturning early warning boundary, acquiring an overturning danger level based on the coordinates of the vertex thrust wheel 211 at the current moment, the coordinates of the intersection point at the previous moment and the time difference between the current moment and the previous moment;
and carrying out early warning based on the overturning danger level.
It should be noted that the rollover risk rating is indicative of the urgency and likelihood of the work machine 200 experiencing a rollover risk. The higher the rollover risk level, the easier and faster the work machine 200 may experience a rollover risk.
In some embodiments, deriving the overturning danger level based on the coordinates of vertex wheel 211 at the current time, the coordinates of the intersection at the previous time, and the time difference between the current time and the previous time comprises:
calculating the equivalent overturn occurrence time based on the following formula:
wherein, T f The equivalent overturning occurrence time is delta t, and the delta t is the time difference between the current time and the last time;
C e is the absolute value of the abscissa, C, of the vertex thrust wheel 211 O (t) is the abscissa of the intersection at the current time, C O (t- Δ t) is the abscissa of the intersection at the last instant,
or, C e Is the absolute value of the ordinate, C, of the apex thrust wheel 211 O (t) is the ordinate of the intersection at the current time, C O (t- Δ t) is the ordinate of the intersection at the previous time.
Obtaining an overturning danger grade based on the equivalent overturning occurrence time; wherein, the overturning danger level and the equivalent overturning occurrence time are in an inverse relation.
When the intersection point O reaches or crosses the overturning early warning boundary, the early warning level may be determined according to the rate of change of the intersection point O away from the overturning early warning boundary, for example, the method may be classified into only warning, reducing the output gear, stopping, and the like.
It is understood that the equivalent overturn occurrence time in the horizontal axis direction of work machine 200 is calculated based on the following formula:
wherein, T f1 To calculate the equivalent overturn occurrence time, x, of the work machine 200 in the horizontal axis direction e Is the abscissa, x, of the vertex thrust wheel 211 O (t) is the abscissa of the intersection at the current time, x O (t- Δ t) is the abscissa of the intersection at the previous time, and Δ t is the time difference between the current time and the previous time.
The equivalent overturn occurrence time in the longitudinal axis direction of work machine 200 is calculated based on the following formula:
wherein, T f2 To calculate the equivalent rollover occurrence time, y, of work machine 200 in the direction of the longitudinal axis e Is the ordinate, y, of the vertex thrust wheel 211 O (t) is the ordinate of the intersection at the current time, y O (t- Δ t) is the ordinate of the intersection at the previous time, and Δ t is the time difference between the current time and the previous time.
t may be a certain time instant, e.g. the current time instant, Δ t may be the time interval between two readings of the pressure sensor.
T f1 Or T f2 The smaller the risk level indicating that work machine 200 is overturning, the greater the need for intervention levels. Further, T f1 The smaller the risk level, the higher the risk level indicating that the work machine 200 is overturned in the lateral direction; t is f2 The smaller the risk level, the higher the risk level of overturning of work machine 200 in the longitudinal direction.
In summary, the overturn prevention early warning method for a working machine according to the present invention includes acquiring a plurality of positive pressures collected by pressure sensors respectively disposed at a plurality of thrust wheels 210; then, based on the positive pressures, a position corresponding to an intersection point of the gravity direction of the work machine 200 and the ground is obtained; finally, the outer contour positions of the plurality of thrust wheels 210 are acquired, and the risk of overturning of the work machine 200 is warned based on the positions of the intersection points and the outer contour positions of the plurality of thrust wheels 210.
In the method provided by the present invention, the positive pressure collected by the pressure sensor at the supporting wheel 210, that is, the reverse acting force applied to the corresponding supporting wheel 210 by the ground, is not collected by the gravity sensors installed at various parts of the working machine 200.
Because the road condition of the operation machine 200 is a direct factor influencing the overturning of the operation machine 200, the method provided by the invention fully considers the road condition of the running road, can accurately detect the gravity distribution of the operation machine 200 even if the operation machine 200 runs on a loose road or a cliff, further calculates the position of the intersection point of the gravity direction of the operation machine 200 and the ground, judges whether the operation machine 200 has the overturning danger or not based on the position of the intersection point and the outer contour positions of the plurality of supporting wheels 210, and then carries out early warning based on the judged overturning danger.
The position corresponding to the intersection point of the gravity direction of the working machine 200 and the ground is calculated through the positive pressure of the supporting wheel 210, so that the accuracy of the calculation result of the intersection point of the gravity direction of the working machine 200 and the ground can be improved, even if the road condition of the working machine 200 during driving changes, the position corresponding to the intersection point of the gravity direction of the working machine 200 and the ground calculated through the method can change accordingly, early warning is timely performed, and early warning after the working machine 200 overturns is avoided, so that the accuracy of the overturning early warning is improved, and the false alarm condition is reduced.
The anti-tip over warning device for the working machine 200 according to the present invention will be described below, and the anti-tip over warning device for the working machine 200 described below and the anti-tip over warning method for the working machine described above may be referred to in correspondence with each other.
In some embodiments, as shown in fig. 5, the anti-tip-over warning method for a work machine may be summarized in three steps: the pressure sensor collects positive pressure data, then overturn danger judgment is carried out, and early warning is carried out based on the danger degree.
As shown in fig. 6, the overturn prevention warning device 600 of the work machine 200 according to the present invention includes: an acquisition module 610, a calculation module 620 and an early warning module 630.
The collecting module 610 is configured to obtain a plurality of positive pressures collected by a plurality of pressure sensors; wherein the plurality of pressure sensors are respectively provided at the plurality of bogie wheels 210 of the work machine 200.
The early warning module 630 is configured to obtain outer contour positions of the plurality of bogie wheels 210, and early warn of a risk of overturning the work machine 200 based on positions of the intersection points and the outer contour positions of the plurality of bogie wheels 210.
In some embodiments, the calculation module 620 includes: a pressure decomposition unit and an intersection coordinate calculation unit.
The pressure decomposition unit is used for decomposing the positive pressures along the coordinate axis direction under a target coordinate system to obtain a plurality of horizontal axis pressures and a plurality of vertical axis pressures. The target coordinate system includes a horizontal axis and a vertical axis, the horizontal axis is a front-back direction of the work machine 200, the vertical axis is a direction perpendicular to the front-back direction of the work machine 200 and parallel to the ground, and the origin of coordinates may be a center point of the plurality of pressure sensors or a position of the pressure sensor at the top thrust wheel 211.
The intersection point coordinate calculation unit is used for obtaining the coordinates of the intersection points on the basis of the plurality of horizontal axis pressures, the plurality of vertical axis pressures and the plurality of positive pressures.
In some embodiments, the outer contour positions of the plurality of bogie wheels 210, including the vertex bogie wheel 211 of the plurality of bogie wheels 210, are coordinates in the target coordinate system.
The early warning module 630 includes: the device comprises a boundary calculation unit and an early warning unit.
The boundary calculation unit is configured to obtain an overturning warning boundary of work machine 200 based on the coordinates of vertex thrust wheel 211.
The early warning unit is used for early warning the overturning danger of the working machine 200 based on the coordinates of the intersection points and the overturning early warning boundary.
In some embodiments, the boundary calculation unit is further configured to divide the coordinates of the vertex thrust wheel 211 by the target safety factor to obtain an overturning early warning boundary; wherein the target safety factor is greater than 1.
In some embodiments, the early warning unit comprises: an overturning danger classification unit and a classification early warning unit.
The overturning danger grading unit is used for obtaining the overturning danger grade based on the coordinate of the vertex thrust wheel 211 at the current moment, the coordinate of the intersection point at the previous moment and the time difference between the current moment and the previous moment when the coordinate of the intersection point crosses the overturning early warning boundary.
The grading early warning unit is used for early warning based on the overturning danger grade.
In some embodiments, the overturning danger classification unit comprises: an overturning time calculating unit and a danger level calculating unit.
The overturning time calculating unit is used for calculating the equivalent overturning occurrence time based on the following formula:
wherein, T f The equivalent overturning occurrence time is delta t, and the delta t is the time difference between the current time and the last time;
C e is the absolute value of the abscissa, C, of the vertex wheel 211 O (t) is the abscissa of the intersection at the current time, C O (t- Δ t) is the abscissa of the intersection at the last instant,
or, C e Is the absolute value of the ordinate, C, of the vertex wheel 211 O (t) is the ordinate of the intersection at the current time, C O (t- Δ t) is the ordinate of the intersection at the previous time.
The danger level calculating unit is used for obtaining the overturning danger level based on the equivalent overturning occurrence time; wherein, the overturning danger level is in inverse proportion relation with the equivalent overturning occurrence time.
The invention also provides a working machine 200, wherein the working machine 200 comprises the overturn-preventing early warning device 600 of the working machine 200.
Further, the work machine 200 according to the present invention includes the overturn prevention warning device 600 of the work machine 200, and thus has various advantages as described above.
The electronic device and the storage medium provided by the present invention are described below, and the electronic device and the storage medium described below and the anti-overturn warning method for a work machine described above may be referred to in correspondence with each other.
Fig. 7 illustrates a physical structure diagram of an electronic device, and as shown in fig. 7, the electronic device may include: a processor (processor) 710, a communication Interface (Communications Interface) 720, a memory (memory) 730, and a communication bus 740, wherein the processor 710, the communication Interface 720, and the memory 730 communicate with each other via the communication bus 740. Processor 710 may invoke logic instructions in memory 730 to perform a method of rollover prevention warning for a work machine, the method comprising:
In addition, the logic instructions in the memory 730 can be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present disclosure also provides a computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, which when executed by a computer, enable the computer to perform the method for preventing overturn pre-warning of a working machine provided by the above methods, the method including:
In yet another aspect, the present disclosure also provides a non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being implemented by a processor to perform the above-mentioned overturn prevention early warning method for a work machine, the method including:
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An overturn prevention early warning method for a working machine, comprising:
acquiring a plurality of positive pressures acquired by a plurality of pressure sensors; wherein the plurality of pressure sensors are respectively arranged at a plurality of supporting wheels of the working machine;
obtaining a position corresponding to an intersection point of the gravity direction of the working machine and the ground based on the positive pressures;
acquiring outer contour positions of the plurality of thrust wheels, and early warning the overturning danger of the working machine based on the positions of the intersection points and the outer contour positions of the plurality of thrust wheels;
wherein, based on the positive pressures, obtaining a position corresponding to an intersection point of the gravity direction of the work machine and the ground comprises:
decomposing the positive pressures along the coordinate axis direction under a target coordinate system to obtain a plurality of horizontal axis pressures and a plurality of longitudinal axis pressures; wherein the target coordinate system comprises a horizontal axis and a vertical axis, the horizontal axis is a front-back direction of the working machine, and the vertical axis is a direction perpendicular to the front-back direction of the working machine and parallel to the ground;
obtaining coordinates of the intersection point based on the plurality of transverse-axis pressures, the plurality of longitudinal-axis pressures, and the plurality of positive pressures.
2. The anti-overturn warning method for a work machine according to claim 1,
the outer contour positions of the plurality of thrust wheels, including the coordinates of a vertex thrust wheel in the plurality of thrust wheels, in the target coordinate system;
the early warning of the overturning danger of the working machine based on the position of the intersection point and the outer contour positions of the plurality of thrust wheels comprises:
obtaining an overturning early warning boundary of the working machine based on the coordinates of the vertex thrust wheel;
and based on the coordinates of the intersection point and the overturning early warning boundary, early warning is carried out on the overturning danger of the working machine.
3. The method of claim 2, wherein obtaining the rollover warning boundary of the work machine based on the coordinates of the top thrust wheel comprises:
dividing the coordinates of the vertex thrust wheel by a target safety coefficient to obtain the overturning early warning boundary;
wherein the target safety factor is greater than 1.
4. The method of claim 2, wherein the warning of the risk of the work machine overturning based on the coordinates of the intersection point and the overturning warning boundary comprises:
under the condition that the coordinates of the intersection point cross the overturning early warning boundary, acquiring an overturning danger level based on the coordinates of the vertex thrust wheel at the current moment, the coordinates of the intersection point at the previous moment and the time difference between the current moment and the previous moment;
and early warning is carried out based on the overturning danger level.
5. The anti-rollover warning method for a work machine according to claim 4, wherein the obtaining of the rollover risk level based on the coordinates of the top thrust wheel at the current time, the coordinates of the intersection point at the previous time, and the time difference between the current time and the previous time comprises:
calculating the equivalent overturn occurrence time based on the following formula:
wherein, T f The equivalent overturning occurrence time is delta t, and the delta t is the time difference between the current moment and the last moment; c e Is the absolute value of the abscissa, C, of the vertex thrust wheel O (t) is the abscissa of the intersection at the current time, C O (t- Δ t) is the abscissa of the intersection at the last instant, or, C e Is the absolute value of the ordinate, C, of the vertex thrust wheel O (t) is the ordinate of the intersection at the current time, C O (t- Δ t) is the ordinate of the intersection at the previous moment;
obtaining the overturning danger grade based on the equivalent overturning occurrence time; wherein, the overturning danger level and the equivalent overturning occurrence time are in an inverse relation.
6. An overturn prevention early warning device for a working machine, comprising:
the acquisition module is used for acquiring a plurality of positive pressures acquired by the plurality of pressure sensors; wherein the plurality of pressure sensors are respectively arranged at a plurality of supporting wheels of the working machine;
the computing module is used for obtaining a position corresponding to an intersection point of the gravity direction of the operation machine and the ground based on the positive pressures;
the early warning module is used for acquiring the outer contour positions of the plurality of thrust wheels and early warning the overturning danger of the working machine based on the positions of the intersection points and the outer contour positions of the plurality of thrust wheels;
the calculation module is specifically used for decomposing the positive pressures along the coordinate axis direction under a target coordinate system to obtain a plurality of horizontal axis pressures and a plurality of longitudinal axis pressures; the target coordinate system comprises a horizontal axis and a vertical axis, the horizontal axis is the front-back direction of the working machine, and the vertical axis is the direction which is perpendicular to the front-back direction of the working machine and parallel to the ground; obtaining coordinates of the intersection point based on the plurality of transverse axis pressures, the plurality of longitudinal axis pressures, and the plurality of positive pressures.
7. A working machine characterized by comprising the overturn prevention warning device for a working machine according to claim 6.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method for early warning of overturn of a working machine according to any of claims 1 to 5.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the steps of the method for preventing an overturn warning for a work machine according to any of claims 1 to 5.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110830053.6A CN113724469B (en) | 2021-07-22 | 2021-07-22 | Overturn-preventing early warning method and device for working machine, working machine and electronic equipment |
| PCT/CN2022/095606 WO2023000822A1 (en) | 2021-07-22 | 2022-05-27 | Anti-overturning warning method and apparatus for work machine, work machine, and electronic device |
| US18/409,427 US20240141620A1 (en) | 2021-07-22 | 2024-01-10 | Anti-overturning warning method and apparatus for work machine, work machine and electronic device |
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| CN202110830053.6A CN113724469B (en) | 2021-07-22 | 2021-07-22 | Overturn-preventing early warning method and device for working machine, working machine and electronic equipment |
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| CN113724469A CN113724469A (en) | 2021-11-30 |
| CN113724469B true CN113724469B (en) | 2023-02-03 |
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| US (1) | US20240141620A1 (en) |
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| CN113724469B (en) * | 2021-07-22 | 2023-02-03 | 上海三一重机股份有限公司 | Overturn-preventing early warning method and device for working machine, working machine and electronic equipment |
| CN114701952B (en) * | 2022-06-06 | 2022-09-02 | 中联重科股份有限公司 | Overturn preventing method and device for engineering machinery, processor and engineering machinery |
| CN115383758B (en) * | 2022-08-23 | 2023-09-19 | 中国人民解放军63653部队 | Engineering operation robot anti-overturning early warning method |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN113724469A (en) | 2021-11-30 |
| WO2023000822A1 (en) | 2023-01-26 |
| US20240141620A1 (en) | 2024-05-02 |
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